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    題名: Adaptive control of holonomic constrained systems: a feedforward fuzzy approximation based approach
    作者: 劉寅春;Chiu, C.S.;Lian, K.Y.
    貢獻者: 淡江大學電機工程學系
    日期: 2006-03-01
    上傳時間: 2011-10-15 01:02:44 (UTC+8)
    摘要: This paper proposes a novel adaptive fuzzy control scheme for the motion/force tracking control of holonomic constrained systems with poorly understood models and disturbances. Some disadvantages of traditional adaptive fuzzy controllers are removed here. In comparison to typical state-feedback fuzzy approximation, the uncertainties are compensated based on a feedforward fuzzy approximation (FFA), which takes desired commands as the premise variables of fuzzy rules. In detail, a unified control model is introduced for representing well-known holonomic systems with an environmental constraint or a set of closed kinematic chains. Then, the FFA-based fuzzy system, adaptation mechanism, and auxiliary-compensating control are derived to ensure robust motion and force tracking in a global manner. Furthermore, a feasible solution for the derived linear matrix inequality guarantees the attenuation of both disturbances and fuzzy parameter errors in an L/sub 2/-gain sense. Finally, two applications are carried out on: 1) a two-link constrained robot and 2) two planar robots transporting a common object. Numerical simulation results show the expected performance.
    關聯: IEEE Trans. on Control Systems Technology 14(3), pp. 456-466
    DOI: 10.1109/TCST.2006.872527
    顯示於類別:[電機工程學系暨研究所] 期刊論文

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